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<div class="title">kinfu.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_KINFUTRACKER_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KINFU_KINFUTRACKER_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/ply_io.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">//#include &lt;boost/graph/buffer_concepts.hpp&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/device.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/float3_operations.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/pixel_rgb.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/tsdf_volume.h&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/color_volume.h&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/raycaster.h&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/cyclical_buffer.h&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">//#include &lt;pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">namespace </span>kinfuLS</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    {        </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html">   71</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html">KinfuTracker</a></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a69016963cfbf55564490bd1831baee11">   76</a></span>&#160;          <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b.html">pcl::gpu::kinfuLS::PixelRGB</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a69016963cfbf55564490bd1831baee11">PixelRGB</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PixelRGB&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned short&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointType</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a> <a class="code" href="structpcl_1_1_normal.html">NormalType</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          performLastScan (){perform_last_scan_ = <span class="keyword">true</span>; PCL_WARN (<span class="stringliteral">&quot;Kinfu will exit after next shift\n&quot;</span>);}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          isFinished (){<span class="keywordflow">return</span> (finished_);}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab6020bce0b1e64d63b5685e5c3db152c">   97</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab6020bce0b1e64d63b5685e5c3db152c">KinfuTracker</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;volumeSize, <span class="keyword">const</span> <span class="keywordtype">float</span> shiftingDistance, <span class="keywordtype">int</span> rows = 480, <span class="keywordtype">int</span> cols = 640);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0cef44856b29bdf5eb8aadf090ef8111">  106</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0cef44856b29bdf5eb8aadf090ef8111">setDepthIntrinsics</a> (<span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy, <span class="keywordtype">float</span> cx = -1, <span class="keywordtype">float</span> cy = -1);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#abcfea69b8ce0bae805b390933f682ab0">  112</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#abcfea69b8ce0bae805b390933f682ab0">setInitialCameraPose</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; pose);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                          </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae71ceabf375408cb4f8e5061e9e698e4">  119</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae71ceabf375408cb4f8e5061e9e698e4">setDepthTruncationForICP</a> (<span class="keywordtype">float</span> max_icp_distance = 0.f);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae3fa3c6059aa2e24d46b17bd3b8dc3a9">  126</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae3fa3c6059aa2e24d46b17bd3b8dc3a9">setIcpCorespFilteringParams</a> (<span class="keywordtype">float</span> distThreshold, <span class="keywordtype">float</span> sineOfAngle);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a57c969f7f4ef5aaf6bfb861e6edd0d2c">  133</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a57c969f7f4ef5aaf6bfb861e6edd0d2c">setCameraMovementThreshold</a>(<span class="keywordtype">float</span> threshold = 0.001f);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac99d1881b90b794e5015ea4f00981b2b">  139</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac99d1881b90b794e5015ea4f00981b2b">initColorIntegration</a>(<span class="keywordtype">int</span> max_weight = -1);        </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad1d72eefdfce4717fcc3423dc3c74600">  143</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad1d72eefdfce4717fcc3423dc3c74600">cols</a> ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae90e607595afa514d8f551b9c7f2b5c1">  147</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae90e607595afa514d8f551b9c7f2b5c1">rows</a> ();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#acc2e875c37845e47b4a62ce1cffd635d">  153</a></span>&#160;          <span class="keywordtype">bool</span> operator() (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a1ab5574af4e43c995e31b0c1532f08e5">  160</a></span>&#160;          <span class="keywordtype">bool</span> operator() (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>&amp; colors);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          Eigen::Affine3f</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a21a0ecb3c1057b34dbd61785b3269c17">  167</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a21a0ecb3c1057b34dbd61785b3269c17">getCameraPose</a> (<span class="keywordtype">int</span> time = -1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          Eigen::Affine3f</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          getLastEstimatedPose () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0b831d5691548d39444e151be731692c">  174</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0b831d5691548d39444e151be731692c">getNumberOfPoses</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a18e2c6101a18e7cbbab4a43e8402d4a3">  177</a></span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a18e2c6101a18e7cbbab4a43e8402d4a3">volume</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a83fafcc2285feb4784243f16faadf4ac">  180</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a83fafcc2285feb4784243f16faadf4ac">volume</a>();</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac3134a4fd0965b6106d5b15ebe9ab0d9">  183</a></span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html">ColorVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac3134a4fd0965b6106d5b15ebe9ab0d9">colorVolume</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a390b03b97eb3ee968e9736797a23db6f">  186</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html">ColorVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a390b03b97eb3ee968e9736797a23db6f">colorVolume</a>();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a170a02a5ed8eba23c95112f76e89efd9">  192</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a170a02a5ed8eba23c95112f76e89efd9">getImage</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>&amp; view) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aed8a584ff6b198cf8f02d974c21e1e83">  198</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aed8a584ff6b198cf8f02d974c21e1e83">getLastFrameCloud</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointType&gt;</a>&amp; cloud) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0dcd5ac346427c458c030e8e4124b70c">  204</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0dcd5ac346427c458c030e8e4124b70c">getLastFrameNormals</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;NormalType&gt;</a>&amp; normals) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a>* </div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad97d7e42026dc5304832df731eb55da6">  210</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad97d7e42026dc5304832df731eb55da6">getCyclicalBufferStructure</a> () </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            <span class="keywordflow">return</span> (cyclical_.getBuffer ());</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a29d540f6d97ed58a9a597bda07f25104">  218</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a29d540f6d97ed58a9a597bda07f25104">extractAndSaveWorld</a> ();</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8686ed7b72c174200eeb5ae191feaafa">  222</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8686ed7b72c174200eeb5ae191feaafa">icpIsLost</a> ()</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            <span class="keywordflow">return</span> (lost_);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#af5f343a0d1e96bea97b3a377e4fb249b">  229</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#af5f343a0d1e96bea97b3a377e4fb249b">reset</a> ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          setDisableICP () </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          { </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            disable_icp_ = !disable_icp_;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;ICP is %s\n&quot;</span>, !disable_icp_?<span class="stringliteral">&quot;ENABLED&quot;</span>:<span class="stringliteral">&quot;DISABLED&quot;</span>);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a361ccd70445c14541060c8c92ccb0057">  240</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a361ccd70445c14541060c8c92ccb0057">hasShifted</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            <span class="keywordflow">return</span> (has_shifted_);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#acb6e1651da498ccd131fd3ec9dd09d7b">  252</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#acb6e1651da498ccd131fd3ec9dd09d7b">allocateBufffers</a> (<span class="keywordtype">int</span> rows_arg, <span class="keywordtype">int</span> cols_arg);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                   </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          <span class="keyword">enum</span> { LEVELS = 3 };</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a618540e44f5ada09ce47912d56df8aea">  258</a></span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a618540e44f5ada09ce47912d56df8aea">CorespMap</a>;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab5cdd3891cdd1d78e84ca4550b7e86d9">  261</a></span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab5cdd3891cdd1d78e84ca4550b7e86d9">MapArr</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;float, 3, 3, Eigen::RowMajor&gt; Matrix3frm;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keyword">typedef</span> Eigen::Vector3f Vector3f;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aae6fae035540920860af7e32d086c44f">  277</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aae6fae035540920860af7e32d086c44f">convertTransforms</a> (Matrix3frm&amp; transform_in_1, Matrix3frm&amp; transform_in_2, Eigen::Vector3f&amp; translation_in_1, Eigen::Vector3f&amp; translation_in_2,</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                         <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a>&amp; transform_out_1, <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a>&amp; transform_out_2, float3&amp; translation_out_1, float3&amp; translation_out_2);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a352a800fd2ff74eead201739854a9643">  289</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a352a800fd2ff74eead201739854a9643">convertTransforms</a> (Matrix3frm&amp; transform_in_1, Matrix3frm&amp; transform_in_2, Eigen::Vector3f&amp; translation_in,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                                         <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a>&amp; transform_out_1, <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a>&amp; transform_out_2, float3&amp; translation_out);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a7ae0e7ad2f155d75aecf4758f9dec0ec">  299</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a7ae0e7ad2f155d75aecf4758f9dec0ec">convertTransforms</a> (Matrix3frm&amp; transform_in, Eigen::Vector3f&amp; translation_in,</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                                         <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a>&amp; transform_out, float3&amp; translation_out);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
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<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          </div>
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<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          </div>
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<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
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<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
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<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          </div>
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<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                  </div>
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<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a18fe442fbb636b829d19dbb3e0f23b69">  368</a></span>&#160;          Vector3f   <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a18fe442fbb636b829d19dbb3e0f23b69">init_tcam_</a>;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
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<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;          </div>
<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a3cb1a788bdab1bd4d3e1c8e3d5475396">  374</a></span>&#160;          <span class="keywordtype">float</span>  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a3cb1a788bdab1bd4d3e1c8e3d5475396">distThres_</a>;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          </div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aafb8885157215d11c5024e8ee2fb2b6a">  377</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aafb8885157215d11c5024e8ee2fb2b6a">angleThres_</a>;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;          </div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab46df35e7d48700be1dd0ba393e0881b">  380</a></span>&#160;          std::vector&lt;DepthMap&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab46df35e7d48700be1dd0ba393e0881b">depths_curr_</a>;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          </div>
<div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a60e1bbb754206ef49954084f1eb77e82">  383</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a60e1bbb754206ef49954084f1eb77e82">vmaps_g_curr_</a>;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;          </div>
<div class="line"><a name="l00386"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a231effee4dc14c11b75019757d5f62ed">  386</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a231effee4dc14c11b75019757d5f62ed">nmaps_g_curr_</a>;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a91a9ba7bb5609e972c44481b00a22dd7">  389</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a91a9ba7bb5609e972c44481b00a22dd7">vmaps_g_prev_</a>;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;          </div>
<div class="line"><a name="l00392"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aaee72614b3b0835fefd4a2f80cb62701">  392</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aaee72614b3b0835fefd4a2f80cb62701">nmaps_g_prev_</a>;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                  </div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac3de8e52741fd4d8cf28e6d3b65e7f89">  395</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac3de8e52741fd4d8cf28e6d3b65e7f89">vmaps_curr_</a>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;          </div>
<div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a14126dfc98992e923b7adc98839170e2">  398</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a14126dfc98992e923b7adc98839170e2">nmaps_curr_</a>;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          </div>
<div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a3836565e8fb514d52dfae00a69de784f">  401</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a3836565e8fb514d52dfae00a69de784f">vmaps_prev_</a>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;          </div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a488405ab75d62b631c5459f49dffae12">  404</a></span>&#160;          std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a488405ab75d62b631c5459f49dffae12">nmaps_prev_</a>;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#af1218f76c2c3b7e442c0025ed777bcba">  407</a></span>&#160;          std::vector&lt;CorespMap&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#af1218f76c2c3b7e442c0025ed777bcba">coresps_</a>;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;          </div>
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<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;          </div>
<div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8e726da9772591106260d1019f1284bd">  413</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;double&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8e726da9772591106260d1019f1284bd">gbuf_</a>;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          </div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac1505522093cc04ae19cdc7d2fd8131b">  416</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;double&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac1505522093cc04ae19cdc7d2fd8131b">sumbuf_</a>;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aa3411c2443676f71df7c07aa60858b0c">  419</a></span>&#160;          std::vector&lt;Matrix3frm&gt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aa3411c2443676f71df7c07aa60858b0c">rmats_</a>;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          </div>
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<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
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<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;                  </div>
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<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          </div>
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<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad5ccd8bd786c71e1844076e0920c27a2">  434</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad5ccd8bd786c71e1844076e0920c27a2">shifting_distance_</a>;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab0a714b546e10081182e5db120cf6164">  437</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab0a714b546e10081182e5db120cf6164">volume_size_</a>;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;          </div>
<div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a19efb60b8f67402be70e0343884655b6">  440</a></span>&#160;          <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a19efb60b8f67402be70e0343884655b6">lost_</a>;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;          </div>
<div class="line"><a name="l00443"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#afba6483192e6c8ec3dbb8af4e997f62e">  443</a></span>&#160;          Matrix3frm <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#afba6483192e6c8ec3dbb8af4e997f62e">last_estimated_rotation_</a>;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          </div>
<div class="line"><a name="l00446"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac89b5a032e5c33dda7c74533ba0c2462">  446</a></span>&#160;          Vector3f <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac89b5a032e5c33dda7c74533ba0c2462">last_estimated_translation_</a>;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;               </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          <span class="keywordtype">bool</span> disable_icp_;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae87c9b1b9b5a0b981586a9e90b155f26">  452</a></span>&#160;          <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae87c9b1b9b5a0b981586a9e90b155f26">has_shifted_</a>;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;          EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      };</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    }</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;};</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_KINFUTRACKER_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a></div><div class="ttdoc">DeviceArray2D class</div><div class="ttdef"><b>Definition:</b> device_array.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; double &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html">pcl::gpu::kinfuLS::ColorVolume</a></div><div class="ttdoc">ColorVolume class</div><div class="ttdef"><b>Definition:</b> color_volume.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_cyclical_buffer_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_cyclical_buffer.html">pcl::gpu::kinfuLS::CyclicalBuffer</a></div><div class="ttdoc">CyclicalBuffer implements a cyclical TSDF buffer. The class offers a simple interface,...</div><div class="ttdef"><b>Definition:</b> cyclical_buffer.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html">pcl::gpu::kinfuLS::KinfuTracker</a></div><div class="ttdoc">KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm</div><div class="ttdef"><b>Definition:</b> kinfu.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a00f37f7656a4ce35bb0f41d981274555"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a00f37f7656a4ce35bb0f41d981274555">pcl::gpu::kinfuLS::KinfuTracker::tsdf_volume_</a></div><div class="ttdeci">TsdfVolume::Ptr tsdf_volume_</div><div class="ttdoc">Tsdf volume container.</div><div class="ttdef"><b>Definition:</b> kinfu.h:359</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a082a451975b814b32a7ae92399c571b5"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a082a451975b814b32a7ae92399c571b5">pcl::gpu::kinfuLS::KinfuTracker::depthRawScaled_</a></div><div class="ttdeci">DeviceArray2D&lt; float &gt; depthRawScaled_</div><div class="ttdoc">Buffer for storing scaled depth image</div><div class="ttdef"><b>Definition:</b> kinfu.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a0b831d5691548d39444e151be731692c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0b831d5691548d39444e151be731692c">pcl::gpu::kinfuLS::KinfuTracker::getNumberOfPoses</a></div><div class="ttdeci">size_t getNumberOfPoses() const</div><div class="ttdoc">Returns number of poses including initial</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a0cef44856b29bdf5eb8aadf090ef8111"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0cef44856b29bdf5eb8aadf090ef8111">pcl::gpu::kinfuLS::KinfuTracker::setDepthIntrinsics</a></div><div class="ttdeci">void setDepthIntrinsics(float fx, float fy, float cx=-1, float cy=-1)</div><div class="ttdoc">Sets Depth camera intrinsics</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a0dcd5ac346427c458c030e8e4124b70c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a0dcd5ac346427c458c030e8e4124b70c">pcl::gpu::kinfuLS::KinfuTracker::getLastFrameNormals</a></div><div class="ttdeci">void getLastFrameNormals(DeviceArray2D&lt; NormalType &gt; &amp;normals) const</div><div class="ttdoc">Returns point cloud abserved from last camera pose</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a14126dfc98992e923b7adc98839170e2"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a14126dfc98992e923b7adc98839170e2">pcl::gpu::kinfuLS::KinfuTracker::nmaps_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_curr_</div><div class="ttdoc">Normal maps pyramid for current frame in current coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:398</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a170a02a5ed8eba23c95112f76e89efd9"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a170a02a5ed8eba23c95112f76e89efd9">pcl::gpu::kinfuLS::KinfuTracker::getImage</a></div><div class="ttdeci">void getImage(View &amp;view) const</div><div class="ttdoc">Renders 3D scene to display to human</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a18e2c6101a18e7cbbab4a43e8402d4a3"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a18e2c6101a18e7cbbab4a43e8402d4a3">pcl::gpu::kinfuLS::KinfuTracker::volume</a></div><div class="ttdeci">const TsdfVolume &amp; volume() const</div><div class="ttdoc">Returns TSDF volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a18fe442fbb636b829d19dbb3e0f23b69"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a18fe442fbb636b829d19dbb3e0f23b69">pcl::gpu::kinfuLS::KinfuTracker::init_tcam_</a></div><div class="ttdeci">Vector3f init_tcam_</div><div class="ttdoc">Initial camera position in volume coo space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:368</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a19efb60b8f67402be70e0343884655b6"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a19efb60b8f67402be70e0343884655b6">pcl::gpu::kinfuLS::KinfuTracker::lost_</a></div><div class="ttdeci">bool lost_</div><div class="ttdoc">True if ICP is lost</div><div class="ttdef"><b>Definition:</b> kinfu.h:440</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a21a0ecb3c1057b34dbd61785b3269c17"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a21a0ecb3c1057b34dbd61785b3269c17">pcl::gpu::kinfuLS::KinfuTracker::getCameraPose</a></div><div class="ttdeci">Eigen::Affine3f getCameraPose(int time=-1) const</div><div class="ttdoc">Returns camera pose at given time, default the last pose</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a231effee4dc14c11b75019757d5f62ed"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a231effee4dc14c11b75019757d5f62ed">pcl::gpu::kinfuLS::KinfuTracker::nmaps_g_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_g_curr_</div><div class="ttdoc">Normal maps pyramid for current frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:386</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a29d540f6d97ed58a9a597bda07f25104"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a29d540f6d97ed58a9a597bda07f25104">pcl::gpu::kinfuLS::KinfuTracker::extractAndSaveWorld</a></div><div class="ttdeci">void extractAndSaveWorld()</div><div class="ttdoc">Extract the world and save it.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a312ac30364ae3e015c6cd4cb6d1b74be"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a312ac30364ae3e015c6cd4cb6d1b74be">pcl::gpu::kinfuLS::KinfuTracker::performICP</a></div><div class="ttdeci">bool performICP(const pcl::device::kinfuLS::Intr &amp;cam_intrinsics, Matrix3frm &amp;previous_global_rotation, Vector3f &amp;previous_global_translation, Matrix3frm &amp;current_global_rotation, Vector3f &amp;current_global_translation)</div><div class="ttdoc">helper function that performs GPU-based ICP, using vertex and normal maps stored in v/nmaps_curr_ and...</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a352a800fd2ff74eead201739854a9643"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a352a800fd2ff74eead201739854a9643">pcl::gpu::kinfuLS::KinfuTracker::convertTransforms</a></div><div class="ttdeci">void convertTransforms(Matrix3frm &amp;transform_in_1, Matrix3frm &amp;transform_in_2, Eigen::Vector3f &amp;translation_in, pcl::device::kinfuLS::Mat33 &amp;transform_out_1, pcl::device::kinfuLS::Mat33 &amp;transform_out_2, float3 &amp;translation_out)</div><div class="ttdoc">helper function that converts transforms from host to device types</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a361ccd70445c14541060c8c92ccb0057"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a361ccd70445c14541060c8c92ccb0057">pcl::gpu::kinfuLS::KinfuTracker::hasShifted</a></div><div class="ttdeci">bool hasShifted() const</div><div class="ttdoc">Return whether the last update resulted in a shift</div><div class="ttdef"><b>Definition:</b> kinfu.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a3836565e8fb514d52dfae00a69de784f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a3836565e8fb514d52dfae00a69de784f">pcl::gpu::kinfuLS::KinfuTracker::vmaps_prev_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_prev_</div><div class="ttdoc">Vertex maps pyramid for previous frame in current coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:401</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a390b03b97eb3ee968e9736797a23db6f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a390b03b97eb3ee968e9736797a23db6f">pcl::gpu::kinfuLS::KinfuTracker::colorVolume</a></div><div class="ttdeci">ColorVolume &amp; colorVolume()</div><div class="ttdoc">Returns color volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a3cb1a788bdab1bd4d3e1c8e3d5475396"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a3cb1a788bdab1bd4d3e1c8e3d5475396">pcl::gpu::kinfuLS::KinfuTracker::distThres_</a></div><div class="ttdeci">float distThres_</div><div class="ttdoc">distance threshold in correspondences filtering</div><div class="ttdef"><b>Definition:</b> kinfu.h:374</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a488405ab75d62b631c5459f49dffae12"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a488405ab75d62b631c5459f49dffae12">pcl::gpu::kinfuLS::KinfuTracker::nmaps_prev_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_prev_</div><div class="ttdoc">Normal maps pyramid for previous frame in current coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:404</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a4d43ce48bc46407a7b4d31ba36bc73b5"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a4d43ce48bc46407a7b4d31ba36bc73b5">pcl::gpu::kinfuLS::KinfuTracker::cyclical_</a></div><div class="ttdeci">CyclicalBuffer cyclical_</div><div class="ttdoc">Cyclical buffer object</div><div class="ttdef"><b>Definition:</b> kinfu.h:341</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a53266ecabd153fbba4e8338a39ef7140"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a53266ecabd153fbba4e8338a39ef7140">pcl::gpu::kinfuLS::KinfuTracker::global_time_</a></div><div class="ttdeci">int global_time_</div><div class="ttdoc">Frame counter</div><div class="ttdef"><b>Definition:</b> kinfu.h:350</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a564ed9f8852774c841f2eb4ae2ee4324"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a564ed9f8852774c841f2eb4ae2ee4324">pcl::gpu::kinfuLS::KinfuTracker::integration_metric_threshold_</a></div><div class="ttdeci">float integration_metric_threshold_</div><div class="ttdoc">Camera movement threshold. TSDF is integrated iff a camera movement metric exceedes some value.</div><div class="ttdef"><b>Definition:</b> kinfu.h:425</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a57c969f7f4ef5aaf6bfb861e6edd0d2c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a57c969f7f4ef5aaf6bfb861e6edd0d2c">pcl::gpu::kinfuLS::KinfuTracker::setCameraMovementThreshold</a></div><div class="ttdeci">void setCameraMovementThreshold(float threshold=0.001f)</div><div class="ttdoc">Sets integration threshold. TSDF volume is integrated iff a camera movement metric exceedes the thres...</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a60e1bbb754206ef49954084f1eb77e82"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a60e1bbb754206ef49954084f1eb77e82">pcl::gpu::kinfuLS::KinfuTracker::vmaps_g_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_g_curr_</div><div class="ttdoc">Vertex maps pyramid for current frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:383</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a618540e44f5ada09ce47912d56df8aea"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a618540e44f5ada09ce47912d56df8aea">pcl::gpu::kinfuLS::KinfuTracker::CorespMap</a></div><div class="ttdeci">DeviceArray2D&lt; int &gt; CorespMap</div><div class="ttdoc">ICP Correspondences map type</div><div class="ttdef"><b>Definition:</b> kinfu.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a69016963cfbf55564490bd1831baee11"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a69016963cfbf55564490bd1831baee11">pcl::gpu::kinfuLS::KinfuTracker::PixelRGB</a></div><div class="ttdeci">pcl::gpu::kinfuLS::PixelRGB PixelRGB</div><div class="ttdoc">Pixel type for rendered image.</div><div class="ttdef"><b>Definition:</b> kinfu.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a73d9d45c8f937e70d3c815b36e7feeae"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a73d9d45c8f937e70d3c815b36e7feeae">pcl::gpu::kinfuLS::KinfuTracker::perform_last_scan_</a></div><div class="ttdeci">bool perform_last_scan_</div><div class="ttdoc">When set to true, KinFu will extract the whole world and mesh it.</div><div class="ttdef"><b>Definition:</b> kinfu.h:428</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a7ae0e7ad2f155d75aecf4758f9dec0ec"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a7ae0e7ad2f155d75aecf4758f9dec0ec">pcl::gpu::kinfuLS::KinfuTracker::convertTransforms</a></div><div class="ttdeci">void convertTransforms(Matrix3frm &amp;transform_in, Eigen::Vector3f &amp;translation_in, pcl::device::kinfuLS::Mat33 &amp;transform_out, float3 &amp;translation_out)</div><div class="ttdoc">helper function that converts transforms from host to device types</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a83fafcc2285feb4784243f16faadf4ac"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a83fafcc2285feb4784243f16faadf4ac">pcl::gpu::kinfuLS::KinfuTracker::volume</a></div><div class="ttdeci">TsdfVolume &amp; volume()</div><div class="ttdoc">Returns TSDF volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a8686ed7b72c174200eeb5ae191feaafa"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8686ed7b72c174200eeb5ae191feaafa">pcl::gpu::kinfuLS::KinfuTracker::icpIsLost</a></div><div class="ttdeci">bool icpIsLost()</div><div class="ttdoc">Returns true if ICP is currently lost</div><div class="ttdef"><b>Definition:</b> kinfu.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a8b16baf5a0292c5d4f176c0861ee0e20"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8b16baf5a0292c5d4f176c0861ee0e20">pcl::gpu::kinfuLS::KinfuTracker::color_volume_</a></div><div class="ttdeci">ColorVolume::Ptr color_volume_</div><div class="ttdoc">Color volume container.</div><div class="ttdef"><b>Definition:</b> kinfu.h:362</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a8e726da9772591106260d1019f1284bd"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a8e726da9772591106260d1019f1284bd">pcl::gpu::kinfuLS::KinfuTracker::gbuf_</a></div><div class="ttdeci">DeviceArray2D&lt; double &gt; gbuf_</div><div class="ttdoc">Temporary buffer for ICP</div><div class="ttdef"><b>Definition:</b> kinfu.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a91a9ba7bb5609e972c44481b00a22dd7"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a91a9ba7bb5609e972c44481b00a22dd7">pcl::gpu::kinfuLS::KinfuTracker::vmaps_g_prev_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_g_prev_</div><div class="ttdoc">Vertex maps pyramid for previous frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:389</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a9289dcf7047233b87ad08cfe9fc0827c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a9289dcf7047233b87ad08cfe9fc0827c">pcl::gpu::kinfuLS::KinfuTracker::rows_</a></div><div class="ttdeci">int rows_</div><div class="ttdoc">Height of input depth image.</div><div class="ttdef"><b>Definition:</b> kinfu.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_a964f89578a995e009104fdef7d14b847"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#a964f89578a995e009104fdef7d14b847">pcl::gpu::kinfuLS::KinfuTracker::prepareMaps</a></div><div class="ttdeci">void prepareMaps(const DepthMap &amp;depth_raw, const pcl::device::kinfuLS::Intr &amp;cam_intrinsics)</div><div class="ttdoc">helper function that pre-process a raw detph map the kinect fusion algorithm. The raw depth map is fi...</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aa0749fdb8b34dad715f96508d121e358"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aa0749fdb8b34dad715f96508d121e358">pcl::gpu::kinfuLS::KinfuTracker::saveCurrentMaps</a></div><div class="ttdeci">void saveCurrentMaps()</div><div class="ttdoc">Helper function that copies v_maps_curr and n_maps_curr to v_maps_prev_ and n_maps_prev_</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aa3411c2443676f71df7c07aa60858b0c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aa3411c2443676f71df7c07aa60858b0c">pcl::gpu::kinfuLS::KinfuTracker::rmats_</a></div><div class="ttdeci">std::vector&lt; Matrix3frm &gt; rmats_</div><div class="ttdoc">Array of camera rotation matrices for each moment of time.</div><div class="ttdef"><b>Definition:</b> kinfu.h:419</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aaa2eaf4a1d7080081dc869219ea0cacd"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aaa2eaf4a1d7080081dc869219ea0cacd">pcl::gpu::kinfuLS::KinfuTracker::init_Rcam_</a></div><div class="ttdeci">Matrix3frm init_Rcam_</div><div class="ttdoc">Initial camera rotation in volume coo space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:365</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aae6fae035540920860af7e32d086c44f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aae6fae035540920860af7e32d086c44f">pcl::gpu::kinfuLS::KinfuTracker::convertTransforms</a></div><div class="ttdeci">void convertTransforms(Matrix3frm &amp;transform_in_1, Matrix3frm &amp;transform_in_2, Eigen::Vector3f &amp;translation_in_1, Eigen::Vector3f &amp;translation_in_2, pcl::device::kinfuLS::Mat33 &amp;transform_out_1, pcl::device::kinfuLS::Mat33 &amp;transform_out_2, float3 &amp;translation_out_1, float3 &amp;translation_out_2)</div><div class="ttdoc">helper function that converts transforms from host to device types</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aaee72614b3b0835fefd4a2f80cb62701"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aaee72614b3b0835fefd4a2f80cb62701">pcl::gpu::kinfuLS::KinfuTracker::nmaps_g_prev_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_g_prev_</div><div class="ttdoc">Normal maps pyramid for previous frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:392</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aafb8885157215d11c5024e8ee2fb2b6a"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aafb8885157215d11c5024e8ee2fb2b6a">pcl::gpu::kinfuLS::KinfuTracker::angleThres_</a></div><div class="ttdeci">float angleThres_</div><div class="ttdoc">angle threshold in correspondences filtering. Represents max sine of angle between normals.</div><div class="ttdef"><b>Definition:</b> kinfu.h:377</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ab0a714b546e10081182e5db120cf6164"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab0a714b546e10081182e5db120cf6164">pcl::gpu::kinfuLS::KinfuTracker::volume_size_</a></div><div class="ttdeci">float volume_size_</div><div class="ttdoc">Size of the TSDF volume in meters.</div><div class="ttdef"><b>Definition:</b> kinfu.h:437</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ab46df35e7d48700be1dd0ba393e0881b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab46df35e7d48700be1dd0ba393e0881b">pcl::gpu::kinfuLS::KinfuTracker::depths_curr_</a></div><div class="ttdeci">std::vector&lt; DepthMap &gt; depths_curr_</div><div class="ttdoc">Depth pyramid.</div><div class="ttdef"><b>Definition:</b> kinfu.h:380</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ab5cdd3891cdd1d78e84ca4550b7e86d9"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab5cdd3891cdd1d78e84ca4550b7e86d9">pcl::gpu::kinfuLS::KinfuTracker::MapArr</a></div><div class="ttdeci">DeviceArray2D&lt; float &gt; MapArr</div><div class="ttdoc">Vertex or Normal Map type</div><div class="ttdef"><b>Definition:</b> kinfu.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ab6020bce0b1e64d63b5685e5c3db152c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ab6020bce0b1e64d63b5685e5c3db152c">pcl::gpu::kinfuLS::KinfuTracker::KinfuTracker</a></div><div class="ttdeci">KinfuTracker(const Eigen::Vector3f &amp;volumeSize, const float shiftingDistance, int rows=480, int cols=640)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_abb2dc938575da86375e34aef9a233962"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#abb2dc938575da86375e34aef9a233962">pcl::gpu::kinfuLS::KinfuTracker::fx_</a></div><div class="ttdeci">float fx_</div><div class="ttdoc">Intrinsic parameters of depth camera.</div><div class="ttdef"><b>Definition:</b> kinfu.h:356</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_abcfea69b8ce0bae805b390933f682ab0"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#abcfea69b8ce0bae805b390933f682ab0">pcl::gpu::kinfuLS::KinfuTracker::setInitialCameraPose</a></div><div class="ttdeci">void setInitialCameraPose(const Eigen::Affine3f &amp;pose)</div><div class="ttdoc">Sets initial camera pose relative to volume coordiante space</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ac1505522093cc04ae19cdc7d2fd8131b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac1505522093cc04ae19cdc7d2fd8131b">pcl::gpu::kinfuLS::KinfuTracker::sumbuf_</a></div><div class="ttdeci">DeviceArray&lt; double &gt; sumbuf_</div><div class="ttdoc">Buffer to store MLS matrix.</div><div class="ttdef"><b>Definition:</b> kinfu.h:416</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ac3134a4fd0965b6106d5b15ebe9ab0d9"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac3134a4fd0965b6106d5b15ebe9ab0d9">pcl::gpu::kinfuLS::KinfuTracker::colorVolume</a></div><div class="ttdeci">const ColorVolume &amp; colorVolume() const</div><div class="ttdoc">Returns color volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ac3de8e52741fd4d8cf28e6d3b65e7f89"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac3de8e52741fd4d8cf28e6d3b65e7f89">pcl::gpu::kinfuLS::KinfuTracker::vmaps_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_curr_</div><div class="ttdoc">Vertex maps pyramid for current frame in current coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:395</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ac89b5a032e5c33dda7c74533ba0c2462"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac89b5a032e5c33dda7c74533ba0c2462">pcl::gpu::kinfuLS::KinfuTracker::last_estimated_translation_</a></div><div class="ttdeci">Vector3f last_estimated_translation_</div><div class="ttdoc">Last estimated translation (estimation is done via pairwise alignment when ICP is failing)</div><div class="ttdef"><b>Definition:</b> kinfu.h:446</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ac99d1881b90b794e5015ea4f00981b2b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ac99d1881b90b794e5015ea4f00981b2b">pcl::gpu::kinfuLS::KinfuTracker::initColorIntegration</a></div><div class="ttdeci">void initColorIntegration(int max_weight=-1)</div><div class="ttdoc">Performs initialization for color integration. Must be called before calling color integration.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_acb6e1651da498ccd131fd3ec9dd09d7b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#acb6e1651da498ccd131fd3ec9dd09d7b">pcl::gpu::kinfuLS::KinfuTracker::allocateBufffers</a></div><div class="ttdeci">void allocateBufffers(int rows_arg, int cols_arg)</div><div class="ttdoc">Allocates all GPU internal buffers.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_acddcf0de1964d13e07c73f8b02bc337b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#acddcf0de1964d13e07c73f8b02bc337b">pcl::gpu::kinfuLS::KinfuTracker::cols_</a></div><div class="ttdeci">int cols_</div><div class="ttdoc">Width of input depth image.</div><div class="ttdef"><b>Definition:</b> kinfu.h:347</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ad1d72eefdfce4717fcc3423dc3c74600"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad1d72eefdfce4717fcc3423dc3c74600">pcl::gpu::kinfuLS::KinfuTracker::cols</a></div><div class="ttdeci">int cols()</div><div class="ttdoc">Returns cols passed to ctor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ad5ccd8bd786c71e1844076e0920c27a2"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad5ccd8bd786c71e1844076e0920c27a2">pcl::gpu::kinfuLS::KinfuTracker::shifting_distance_</a></div><div class="ttdeci">float shifting_distance_</div><div class="ttdoc">// when the camera target point is farther than DISTANCE_THRESHOLD from the current cube's center,...</div><div class="ttdef"><b>Definition:</b> kinfu.h:434</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ad97d7e42026dc5304832df731eb55da6"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ad97d7e42026dc5304832df731eb55da6">pcl::gpu::kinfuLS::KinfuTracker::getCyclicalBufferStructure</a></div><div class="ttdeci">tsdf_buffer * getCyclicalBufferStructure()</div><div class="ttdoc">Returns pointer to the cyclical buffer structure</div><div class="ttdef"><b>Definition:</b> kinfu.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ae3fa3c6059aa2e24d46b17bd3b8dc3a9"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae3fa3c6059aa2e24d46b17bd3b8dc3a9">pcl::gpu::kinfuLS::KinfuTracker::setIcpCorespFilteringParams</a></div><div class="ttdeci">void setIcpCorespFilteringParams(float distThreshold, float sineOfAngle)</div><div class="ttdoc">Sets ICP filtering parameters.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ae71ceabf375408cb4f8e5061e9e698e4"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae71ceabf375408cb4f8e5061e9e698e4">pcl::gpu::kinfuLS::KinfuTracker::setDepthTruncationForICP</a></div><div class="ttdeci">void setDepthTruncationForICP(float max_icp_distance=0.f)</div><div class="ttdoc">Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that a...</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ae87c9b1b9b5a0b981586a9e90b155f26"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae87c9b1b9b5a0b981586a9e90b155f26">pcl::gpu::kinfuLS::KinfuTracker::has_shifted_</a></div><div class="ttdeci">bool has_shifted_</div><div class="ttdoc">True or false depending on if there was a shift in the last pose update</div><div class="ttdef"><b>Definition:</b> kinfu.h:452</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_ae90e607595afa514d8f551b9c7f2b5c1"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#ae90e607595afa514d8f551b9c7f2b5c1">pcl::gpu::kinfuLS::KinfuTracker::rows</a></div><div class="ttdeci">int rows()</div><div class="ttdoc">Returns rows passed to ctor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aed8a584ff6b198cf8f02d974c21e1e83"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aed8a584ff6b198cf8f02d974c21e1e83">pcl::gpu::kinfuLS::KinfuTracker::getLastFrameCloud</a></div><div class="ttdeci">void getLastFrameCloud(DeviceArray2D&lt; PointType &gt; &amp;cloud) const</div><div class="ttdoc">Returns point cloud abserved from last camera pose</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aeed0a06f7eae44c9ee6ea904902cf1dc"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aeed0a06f7eae44c9ee6ea904902cf1dc">pcl::gpu::kinfuLS::KinfuTracker::max_icp_distance_</a></div><div class="ttdeci">float max_icp_distance_</div><div class="ttdoc">Truncation threshold for depth image for ICP step</div><div class="ttdef"><b>Definition:</b> kinfu.h:353</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_aeff0263eb3ac9c2f4b5d1f502bd134c4"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#aeff0263eb3ac9c2f4b5d1f502bd134c4">pcl::gpu::kinfuLS::KinfuTracker::finished_</a></div><div class="ttdeci">bool finished_</div><div class="ttdoc">When set to true, KinFu notifies that it is finished scanning and can be stopped.</div><div class="ttdef"><b>Definition:</b> kinfu.h:431</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_af1218f76c2c3b7e442c0025ed777bcba"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#af1218f76c2c3b7e442c0025ed777bcba">pcl::gpu::kinfuLS::KinfuTracker::coresps_</a></div><div class="ttdeci">std::vector&lt; CorespMap &gt; coresps_</div><div class="ttdoc">Array of buffers with ICP correspondences for each pyramid level.</div><div class="ttdef"><b>Definition:</b> kinfu.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_af5f343a0d1e96bea97b3a377e4fb249b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#af5f343a0d1e96bea97b3a377e4fb249b">pcl::gpu::kinfuLS::KinfuTracker::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Performs the tracker reset to initial state. It's used if camera tracking fails.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_afba6483192e6c8ec3dbb8af4e997f62e"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#afba6483192e6c8ec3dbb8af4e997f62e">pcl::gpu::kinfuLS::KinfuTracker::last_estimated_rotation_</a></div><div class="ttdeci">Matrix3frm last_estimated_rotation_</div><div class="ttdoc">Last estimated rotation (estimation is done via pairwise alignment when ICP is failing)</div><div class="ttdef"><b>Definition:</b> kinfu.h:443</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_afdca8a9bcd85ba840627f03e2e0325db"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#afdca8a9bcd85ba840627f03e2e0325db">pcl::gpu::kinfuLS::KinfuTracker::performPairWiseICP</a></div><div class="ttdeci">bool performPairWiseICP(const pcl::device::kinfuLS::Intr cam_intrinsics, Matrix3frm &amp;resulting_rotation, Vector3f &amp;resulting_translation)</div><div class="ttdoc">helper function that performs GPU-based ICP, using the current and the previous depth-maps (i....</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker_html_afed69681560bca92dd5b556d742bb49f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_kinfu_tracker.html#afed69681560bca92dd5b556d742bb49f">pcl::gpu::kinfuLS::KinfuTracker::tvecs_</a></div><div class="ttdeci">std::vector&lt; Vector3f &gt; tvecs_</div><div class="ttdoc">Array of camera translations for each moment of time.</div><div class="ttdef"><b>Definition:</b> kinfu.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">pcl::gpu::kinfuLS::TsdfVolume</a></div><div class="ttdoc">TsdfVolume class</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1kinfu_l_s_1_1_intr_html"><div class="ttname"><a href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">pcl::device::kinfuLS::Intr</a></div><div class="ttdoc">Camera intrinsics structure</div><div class="ttdef"><b>Definition:</b> device.h:82</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1kinfu_l_s_1_1_mat33_html"><div class="ttname"><a href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a></div><div class="ttdoc">3x3 Matrix for device code</div><div class="ttdef"><b>Definition:</b> device.h:104</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b.html">pcl::gpu::kinfuLS::PixelRGB</a></div><div class="ttdoc">Input/output pixel format for KinfuTracker</div><div class="ttdef"><b>Definition:</b> pixel_rgb.h:51</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a></div><div class="ttdoc">Structure to handle buffer addresses</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:52</div></div>
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